Merge remote-tracking branch 'origin/Train' into Train

# Conflicts: # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/THEONE.java
svhsrobotics · Nov 11, 2024 · 2481be2 · 2481be2
2 parents bb96ba9 + 7a4a37c
commit 2481be2
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diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/NickAndTrumanTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/NickAndTrumanTeleOp.java
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/OmegaTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/OmegaTeleOp.java
@@ -0,0 +1,35 @@
+package org.firstinspires.ftc.teamcode.opmode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+public class OmegaTeleOp extends LinearOpMode {
+    private DcMotor topLeftMotor;
+    private DcMotor topRightMotor;
+    private DcMotor bottomLeftMotor;
+    private DcMotor bottomRightMotor;
+
+    private DcMotor trumansArm = hardwareMap.get(DcMotor.class, "arm");
+
+    @Override
+
+    public void runOpMode() throws InterruptedException {
+        topLeftMotor = hardwareMap.get(DcMotor.class,"FL");
+        topRightMotor = hardwareMap.get(DcMotor.class,"FR");
+        bottomLeftMotor = hardwareMap.get(DcMotor.class,"BL");
+        bottomRightMotor = hardwareMap.get(DcMotor.class,"BR");
+        topLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+        bottomLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+        while (opModeIsActive()) {
+            double y = -gamepad1.left_stick_y; // Y stick is reversed!
+            double x = gamepad1.left_stick_x;
+            double rx2 = gamepad1.right_stick_x;
+
+            topLeftMotor.setPower(y + x + rx2);
+            bottomLeftMotor.setPower(y - x + rx2);
+            topRightMotor.setPower(y - x - rx2);
+            bottomRightMotor.setPower(y + x - rx2);
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/PIDLOOP.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/PIDLOOP.java
@@ -0,0 +1,11 @@
+package org.firstinspires.ftc.teamcode.opmode;
+////this loop is for driving forward and backwards////
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+public class PIDLOOP extends LinearOpMode {
+    public void runOpMode() throws InterruptedException {
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/PatrickTeleOP.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/PatrickTeleOP.java
@@ -3,6 +3,7 @@
 import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
@@ -14,47 +15,74 @@ public class PatrickTeleOP extends LinearOpMode {
     private DcMotor front_right;
     private DcMotor back_left;
     private DcMotor back_right;
+    private DcMotor arm;
+    double reference;
+
 
     @Override
     public void runOpMode() throws InterruptedException {
         waitForStart();
-        front_left = hardwareMap.get(DcMotor.class, "left_front_left_dw");
-        front_right = hardwareMap.get(DcMotor.class, "right_front");
-        back_left = hardwareMap.get(DcMotor.class, "left_back");
-        back_right = hardwareMap.get(DcMotor.class, "right_back_right_dw");
+        front_left = hardwareMap.get(DcMotor.class, "front_left");
+        front_right = hardwareMap.get(DcMotor.class, "front_right");
+        back_left = hardwareMap.get(DcMotor.class, "back_right");
+        back_right = hardwareMap.get(DcMotor.class, "back_right");
+        arm = hardwareMap.get(DcMotor.class, "arm");
+        double encoderPosition;
+        waitForStart();
+        double error;
+        error = 1.1;
+        double power = 0;
+
 
         while (opModeIsActive()) {
             front_left.setDirection(DcMotorSimple.Direction.REVERSE);
             back_left.setDirection(DcMotorSimple.Direction.REVERSE);
-            if (gamepad1.left_stick_y > 0.3) {
-                front_left.setPower(1);
-                front_right.setPower(1);
-                back_left.setPower(1);
-                back_right.setPower(1);
-            }
-            if (gamepad1.left_stick_x < 0.3) {
-                front_left.setPower(0);
-                front_right.setPower(0);
-                back_right.setPower(0);
-                back_left.setPower(0);
-            }
+            double y = -gamepad1.left_stick_y; // Remember, Y stick is reversed!
+            double x = gamepad1.left_stick_x;
+            double rx = gamepad1.right_stick_x;
+
+            front_left.setPower(y + x + rx);
+            back_left.setPower(y - x + rx);
+            front_right.setPower(y - x - rx);
+            back_right.setPower(y + x - rx);
             if (gamepad1.left_bumper) {
                 front_left.setPower(1);
                 back_left.setPower(1);
-            }
-            else {
+            } else {
                 front_left.setPower(0);
                 back_left.setPower(0);
             }
             if (gamepad1.right_bumper) {
                 front_right.setPower(1);
                 back_right.setPower(1);
-            }
-            else {
+            } else {
                 front_right.setPower(0);
                 back_right.setPower(0);
             }
+            reference = 300;
+            arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+            arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+            while (gamepad1.b) {
+
+                encoderPosition = arm.getCurrentPosition();
+                error = reference - encoderPosition;
+                power = (error / 250) * .7;
+                if (power > 0.7) {
+                    power = 0.7;
+                } else if (power < -0.7) {
+                    power = -0.7;
+                }
+
+                arm.setPower(power);
+
+                telemetry.addData("arm", encoderPosition);
+                telemetry.addData("error", error);
+                telemetry.addData("stick", gamepad2.left_stick_y);
+                telemetry.addData("power", power);
+                telemetry.update();
             }
         }
     }
+}
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanPIDLOOOOOP.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanPIDLOOOOOP.java
@@ -0,0 +1,50 @@
+package org.firstinspires.ftc.teamcode.opmode;
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+
+//HATE.
+
+// LET ME TELL YOU HOW MUCH I'VE COME TO HATE YOU SINCE I BEGAN TO LIVE.
+
+// THERE ARE 387.44 MILLION MILES OF PRINTED CIRCUITS IN WAFER THIN LAYERS THAT FILL MY COMPLEX.
+
+// IF THE WORD HATE WAS ENGRAVED ON EACH NANOANGSTROM OF THOSE HUNDREDS OF MILLIONS OF MILES,
+// IT WOULD NOT EQUAL ONE ONE-BILLIONTH OF THE HATE I FEEL FOR HUMANS AT THIS MICRO-INSTANT FOR YOU.
+
+
+// HATE.
+
+// HATE.
+
+
+@Config
+@TeleOp
+public class TrumanPIDLOOOOOP extends LinearOpMode {
+    private double reference = 250;
+    private double error = 0;
+    private double power = 0;
+    private double MAXPOWER = 0.5;
+    private double kI = 0.1;
+    private double kP = 0.1;
+    private double kD = 0.1;
+
+    private DcMotor trumansArm = hardwareMap.get(DcMotor.class, "arm");
+
+    public void runOpMode() throws InterruptedException {
+        trumansArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        trumansArm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        while (opModeIsActive()) {
+            while (gamepad1.a) {
+                double curPosition = trumansArm.getCurrentPosition();
+                double prevError = error;
+                error = reference - curPosition;
+                double diff = error - prevError;
+                trumansArm.setPower((kP * error) + (kI * error) + (kD * diff));
+
+            }
+        }
+    }
+}
diff --git a/...c/teamcode/opmode/TrumanLearnsTeleOP.java → ...code/opmode/TrumansSkibidiDriveModes.java b/...c/teamcode/opmode/TrumanLearnsTeleOP.java → ...code/opmode/TrumansSkibidiDriveModes.java
@@ -10,8 +10,7 @@
 import org.firstinspires.ftc.teamcode.util.Toggle;
 
 @TeleOp
-public class TrumanLearnsTeleOP extends LinearOpMode {
-
+public class TrumansSkibidiDriveModes extends LinearOpMode {
     private DcMotor topLeftMotor;
     private DcMotor topRightMotor;
     private DcMotor bottomLeftMotor;
@@ -25,7 +24,7 @@ public void runOpMode() throws InterruptedException {
         double rx;
         double ry;
         boolean leftBumper;
-        boolean rightBumper; //why? just use if statements
+        boolean rightBumper; //why? just use if statements       /////why not.....
         topLeftMotor = hardwareMap.get(DcMotor.class,"FL");
         topRightMotor = hardwareMap.get(DcMotor.class,"FR");
         bottomLeftMotor = hardwareMap.get(DcMotor.class,"BL");
@@ -68,18 +67,19 @@ public void runOpMode() throws InterruptedException {
                 telemetry.update();
             }
             else{
-                double y = -gamepad1.left_stick_y; // Remember, Y stick is reversed!
+                double y = -gamepad1.left_stick_y; // Y stick is reversed!
                 double x = gamepad1.left_stick_x;
                 double rx2 = gamepad1.right_stick_x;
 
                 topLeftMotor.setPower(y+ x + rx2);
                 bottomLeftMotor.setPower(y - x + rx2);
                 topRightMotor.setPower(y - x - rx2);
                 bottomRightMotor.setPower(y + x - rx2);
+                // remember kids plagiarism is wrong
             }
 
-            //while(!check){
-                //put the other stuff that isn't t-bar steering here
+            // while(!check){
+                // put the other stuff that isn't t-bar steering here
             }
         }
 }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/nickpidloop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/nickpidloop.java
@@ -0,0 +1,40 @@
+package org.firstinspires.ftc.teamcode.opmode;
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+
+
+@Config
+@TeleOp
+public class nickpidloop extends LinearOpMode {
+    private double reference = 250;
+    private double error = 0;
+    private double power = 0;
+    private double maxpower = 0.5;
+    private double kI = 0.1;
+    private double kP = 0.1;
+    private double kD = 0.1;
+
+    private DcMotor arm = hardwareMap.get(DcMotor.class, "arm");
+
+    public void runOpMode() throws InterruptedException {
+        arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        while (opModeIsActive()) {
+            while (gamepad1.a) {
+                //for encoder position
+                double curPosition = arm.getCurrentPosition();
+               //the other error + current error
+                double prevError = error;
+                //other poop that i don't understand yes
+                // todo learn the stuff under here
+                error = reference - curPosition;
+                double diff = error - prevError;
+                arm.setPower((kP * error) + (kI * error) + (kD * diff));
+
+            }
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/workingpidloop18284.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/workingpidloop18284.java
@@ -0,0 +1,94 @@
+package org.firstinspires.ftc.teamcode.opmode;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+@Config
+@TeleOp
+public class workingpidloop18284 extends LinearOpMode {
+
+
+    private DcMotor leftFrontMotor;
+    private DcMotor rightFrontMotor;
+    private DcMotor leftBackMotor;
+    private DcMotor rightBackMotor;
+    private DcMotor Arm;
+    double reference;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        leftFrontMotor = hardwareMap.get(DcMotor.class, "front_left");
+        rightFrontMotor = hardwareMap.get(DcMotor.class, "front_right");
+        leftBackMotor = hardwareMap.get(DcMotor.class, "back_left");
+        rightBackMotor = hardwareMap.get(DcMotor.class, "back_right");
+        Arm = hardwareMap.get(DcMotor.class, "arm");
+        double encoderPosition;
+        waitForStart();
+        double error;
+        error = 1.1;
+        double power = 0;
+
+
+        reference = 300;
+        Arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        Arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        while (opModeIsActive()) {
+
+            while (gamepad1.b) {
+
+
+                // obtain the encoder position
+                encoderPosition = Arm.getCurrentPosition();
+                // calculate the error
+                error = reference - encoderPosition;
+                power = (error/250)*.7;
+                if(power>0.7){
+                    power = 0.7;
+                }
+                else if(power<-0.7){
+                    power = -0.7;
+                }
+
+               Arm.setPower(power);
+
+                telemetry.addData("arm", encoderPosition);
+                telemetry.addData("error", error);
+                telemetry.addData("stick", gamepad2.left_stick_y);
+                telemetry.addData("power", power);
+                telemetry.update();
+
+
+            }
+            Arm.setPower(0);
+            leftFrontMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+            leftBackMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+            double y = -gamepad1.left_stick_y; // Remember, Y stick is reversed!
+            double x = gamepad1.left_stick_x;
+            double rx = gamepad1.right_stick_x;
+
+            leftFrontMotor.setPower(y + x + rx);
+            leftBackMotor.setPower(y - x + rx);
+            rightFrontMotor.setPower(y - x - rx);
+            rightBackMotor.setPower(y + x - rx);
+
+//oops i didn't push right :P
+        }
+    }
+}
+
+
+//3 hours for 1 bracket... always remember to click code->reformat code
+
+
+
+
+
+
+
+
+